int32 SOLUTION_STATUS_SOL_COMPUTED = 0
int32 SOLUTION_STATUS_INSUFFICIENT_OBS = 1
int32 SOLUTION_STATUS_NO_CONVERGENCE = 2
int32 SOLUTION_STATUS_SINGULARITY = 3
int32 SOLUTION_STATUS_COV_TRACE = 4
int32 SOLUTION_STATUS_COLD_START = 5
int32 SOLUTION_STATUS_V_H_LIMIT = 6
int32 SOLUTION_STATUS_VARIANCE = 7
int32 SOLUTION_STATUS_INTEGRITY_WARNING = 8
int32 SOLUTION_STATUS_PENDING = 9
int32 SOLUTION_STATUS_INVALID_FIX = 10
int32 SOLUTION_STATUS_UNAUTHORIZED = 11

int32 POSITION_TYPE_NONE = 0
int32 POSITION_TYPE_FIXEDPOS = 1
int32 POSITION_TYPE_FIXEDHEIGHT = 2
int32 POSITION_TYPE_DOPPLER_VELOCITY = 8
int32 POSITION_TYPE_SINGLE = 16
int32 POSITION_TYPE_PSRDIFF = 17
int32 POSITION_TYPE_WAAS = 18
int32 POSITION_TYPE_PROPAGATED = 19
int32 POSITION_TYPE_OMNISTAR = 20
int32 POSITION_TYPE_L1_FLOAT = 32
int32 POSITION_TYPE_IONOFREE_FLOAT = 33
int32 POSITION_TYPE_NARROW_FLOAT = 34
int32 POSITION_TYPE_L1_INT = 48
int32 POSITION_TYPE_NARROW_INT = 50
int32 POSITION_TYPE_OMNISTAR_HP = 64
int32 POSITION_TYPE_OMNISTAR_XP = 65
int32 POSITION_TYPE_PPP_CONVERGING = 68
int32 POSITION_TYPE_PPP = 69
int32 POSITION_TYPE_OPERATIONAL = 70
int32 POSITION_TYPE_WARNING = 71
int32 POSITION_TYPE_OUT_OF_BOUNDS = 72

#position and velocity
Header header
int32 sendtime
float64 longitude
float64 latitude
geometry_msgs/Vector3 position
int32 UTMZoneNum
uint8 UTMZoneChar
geometry_msgs/Vector3 attitude
geometry_msgs/Vector3 velocity
geometry_msgs/Vector3 SD
float64 second
int32 SatUseNum
int32 SatInViewNum
float64 vel_latency
int32 solution_status
int32 position_type
string status

#dual antena angle
geometry_msgs/Vector3 attitude_dual
geometry_msgs/Vector3 SD_angle_dual
float64 base_line_length_dual
int32 solution_status_dual
int32 type_dual
int32 solution_source_dual



